roboplan.visualization
======================

.. py:module:: roboplan.visualization


Functions
---------

.. autoapisummary::

   roboplan.visualization.visualizeOcTree
   roboplan.visualization.visualizePath
   roboplan.visualization.visualizeJointTrajectory
   roboplan.visualization.visualizeTree
   roboplan.visualization.plotJointTrajectory


Module Contents
---------------

.. py:function:: visualizeOcTree(viz, octree_geometry, prefix)

   Helper function to visualize octree geometries on Viser.

   Args
       viz: The viser visualizer instance.
       octree_geometry: the octree geometry object
       prefix: the prefix for geometry name


.. py:function:: visualizePath(viz, scene, path, frame_names, max_step_size, color = (100, 0, 0), name = '/path')

   Helper function to visualize a sparse joint path in Cartesian space, using interpolation.

   Args
       viz: The viser visualizer instance.
       scene: The scene instance.
       path: The joint path to visualize.
       frame_names: The list of frame names to use for forward kinematics.
       max_step_size: The maximum step size between joint configurations when interpolating paths.
       color: The color of the rendered path.
       name: The name of the path in the viser window.


.. py:function:: visualizeJointTrajectory(viz, scene, traj, frame_names, color = (100, 0, 0), name = '/trajectory')

   Helper function to visualize a joint trajectory in Cartesian space.

   Args
       viz: The viser visualizer instance.
       scene: The scene instance.
       traj: The joint trajectory to visualize.
       frame_names: The list of frame names to use for forward kinematics.
       color: The color of the rendered trajectory.
       name: The name of the trajectory in the viser window.


.. py:function:: visualizeTree(viz, scene, rrt, frame_names, max_step_size, start_tree_color = (0, 100, 100), start_tree_name = '/rrt/start_tree', goal_tree_color = (100, 0, 100), goal_tree_name = '/rrt/goal_tree')

   Helper function to visualize the start and goal trees from an RRT planner.

   Args
       viz: The viser visualizer instance.
       scene: The scene instance.
       rrt: The RRT planner instance.
       path: The joint path to visualize. If None, does not visualize the path.
       frame_names: List of frame names to use for forward kinematics.
       max_step_size: The maximum step size between joint configurations when interpolating paths.
       start_tree_color: The color of the rendered start tree.
       start_tree_name: The name of the start tree in the vizer window.
       goal_tree_color: The color of the rendered goal tree.
       goal_tree_name: The name of the goal tree in the vizer window.


.. py:function:: plotJointTrajectory(trajectory, scene, plot_title = 'Joint Trajectory')

   Plot a joint trajectory of positions over time.

   Args
       trajectory: The trajectory object visualize.
       scene: The Scene object used to get joint information.
       plot_title: The title of the plot.

   Returns
       The matplotlib figure object. Use plt.show() to display it.